CN105263777B

CN105263777B - Vehicle traction controls

Info

Publication number: CN105263777B
Application number: CN201480028516.5A
Authority: CN
Inventors: 安德鲁·费尔格雷夫; 詹姆斯·凯利
Original assignee: Land Rover UK Ltd
Current assignee: Jaguar Land Rover Ltd
Priority date: 2013-05-16
Filing date: 2014-05-16
Publication date: 2018-07-20
Anticipated expiration: 2034-05-16
Also published as: GB2516535A; JP2016522114A; US20160082972A1; GB201308807D0; CN105263777A; WO2014184344A1; US9676390B2; GB201408698D0; JP2017222357A; JP6387398B2; GB2516535B; EP2996918A1

Abstract

A method of movement of the actuating vehicle on running surface and/or the holding vehicle realized by control system on running surface, the method includes setting in motion control, setting in motion control includes：Braking moment and driving torque are applied to one or more wheels by control system order so that vehicle remains stationary；Then from standing setting in motion while continuing to apply braking moment to one or more wheels.It can be advanced with the vehicle being maintained on low-frictional force surface with implementation strategy.Vehicle driver can be ordered to change control input, such as accelerator pedal position, in order to keep advancing.

Description

Vehicle traction controls

Technical field

The present invention relates to vehicle traction controls, and are particularly but not exclusively related to improving the tractive force control of vehicle The system and method for system --- for example keeping vehicle to advance from standing (rest) mobile vehicle and under off-highway situation ---. The aspect of the present invention is related to method, is related to system and is related to vehicle.

Background technology

Under road conditions on dry asphalt surface from stand mobile vehicle be well known.Between wheel tyre and ground Friction coefficient (μ or " mu ") reduce or be inconsistent in the case of, the conventional method of vehicle startup can cause one or more The excessive slip (slip) of a wheel.This is particularly problematic for the new hand driver under off-highway situation.Such as On sand ground, improper trackslip (spin) of wheel can make vehicle pick hold sand ground and be unable to get the enough tractions advanced on sand ground Power.The off-highway driver of new hand may be unaware that one or more wheels are trackslipping from the inside of vehicle, and deep line The accessory of off-highway tire may be such that the problem aggravates since their dentation excavates property.In addition, in some cases, mistake The wheel slip of degree can generate the damage on the surface travelled to vehicle, especially on the surface of relative flimsiness such as meadow In the case of.

When vehicle moves under smooth situation, it can relatively easily induce excessive wheel slip and be led to lose Gravitation, especially while the vehicle is traveling in the case of the variation of experience mu.

The present invention is contemplated for the background.Embodiments of the present invention are provided from standing mobile vehicle and/or guarantor Hold the method and system of movement of the vehicle on running surface.According to be described below, claims and drawing, it is of the invention Other objects and advantages will be apparent.

Invention content

The aspect of the present invention provides such as method claimed, system and vehicle in the following claims.

In the one aspect of the present invention sought protection, provide it is a kind of by control system realize on running surface Actuating vehicle and/or the method for keeping movement of the vehicle on running surface, the method includes setting in motion controls, open Beginning motion control includes：

Braking moment and driving torque are applied to one or more wheels by control system order so that vehicle keeps quiet Only；

Then from standing setting in motion while continuing to apply braking moment to one or more wheels.

Seek protection it is of the invention in terms of in, provide one kind on running surface actuating vehicle and keep described in The method of movement of the vehicle on running surface, this method include：

Order applies braking moment and driving torque to one or more wheels so that vehicle remains stationary；

Then continue to one or more wheels apply braking moment while from stand setting in motion,

Wherein, method further includes：Sliding of one or more wheel of vehicle on running surface is automatically kept, In, the value of the sliding kept is within a predetermined range.

In embodiments, kept sliding can be determined according to one or more features of running surface Value.Optionally, the value of the sliding kept might also depend on the speed of vehicle.

In some embodiments, the value of the sliding kept can reduce with car speed is increased.

In some embodiments, as car speed is close to speed corresponding with electromotor velocity, can reduce automatically The value of the sliding kept.

In some embodiments, sliding can be maintained in range 5% to 20%.

It is to be understood that thus, in one or more wheels substantially from the substantially stationary standing situation quilt of vehicle While driving, braking moment is applied to fight driving torque to one or more wheels.

Embodiments of the present invention tool has the advantage that：Can reduce occur excessive wheel slip, it is one or more The risk of wheel flare.As described above, when vehicle is being sought to open from standing on the surface with relatively low friction coefficient When beginning to move, the amount of wheelslip can easily become excessive when driving torque is applied to one or more wheels.This The embodiment of invention overcomes the problems, such as this by applying braking moment to one or more driven wheels to fight its rotation. Vehicle applies braking moment while acceleration from standing.Braking system can be applied before applying driving torque to wheel System so that when applying driving torque, the braking moment formed by braking system is increased in a manner of the movement for fighting vehicle.System Dynamic system, which can be arranged, keeps vehicle substantially stationary, until enough driving torques are applied to one or more vehicles Wheel.Then it can reduce the amount of braking moment to start the rotation of one or more wheels.Alternatively or in addition, Ke Yizeng The amount of big driving torque, at least up to the rotation for starting one or more wheels.

Reference is made to apply braking moment it is understood that applying the braking for fighting applied driving torque at referring to Torque, driving torque are along so that the torque that propulsion vehicle applies along the direction that required direction of travel is advanced.It can be by In the motor at least part of motor of regeneration brake system (be optionally be operable as), by means of the basis based on frictional force Braking system applies braking moment by any other suitable device.Motor may be operative in some embodiments Traction (or propulsion) motor.

It is to be understood that braking moment may be used to adjust the driving torque for being applied to wheel in embodiments of the present invention Amount, enable to accurately control wheel velocity when vehicle is accelerated from standing.To being sent out by engine such as internal combustion Motivation generate driving torque adjustment prevent at least partially due to engine moving component inertia caused by mistake It is impossible to be put on when relatively short needed for degree sliding.Braking system such as friction braking system or regeneration brake system with The torque combined use formed by engine contributes in more-controlled fashion to apply driving torque, enabling is slided to wheel Shifting is improved control.Particularly, if controlling braking system and power assembly in a synchronous manner, can be basically The net torque that zero net torque is applied to wheel subtly to adjust (turns as power assembly driving torque and brake system The resultant of square).

Method may include：By the sliding of one or more wheel of vehicle on the ground be automatically kept in 5% to In the range of 20%.The amount of the sliding kept can be controlled by control system with using the value depending on car speed. For example, the value can reduce with car speed is increased.Additionally or alternatively, the value of the sliding kept can basis One or more features of running surface --- such as roughness, the amount for forcing dragging on vehicle on travelling on surface And/or other one or more features --- to determine.

It will consequently be understood that some embodiments of the present invention allow one or more wheel of vehicle in landform Controlled Relative sliding to ensure effective tractive force, without generate out of control or vehicle unstability.Wheel is in landform Sliding can be realized by automatically controlling vehicle engine assembly and braking system in an appropriate manner.For example, can be to hair Motivation and optionally one or more clutches or torque-converters are controlled to generate positive driving torque.It is one or more The sliding of wheel can be realized by operations described below：Control is applied to the amount of the power assembly driving torque of wheel and braking turns The amount of square so that form enough torques to ensure to slide while preventing from being formed excessive slip.As described above, braking Torque can be provided by the component of power assembly such as motor at least partly.

In some embodiments, control system can be operated with to a wheel or pair of wheels such as front axle or after The wheel of axis applies positive driving torque and braking moment (negative torque), and does not apply to one or more (non-driven) wheels and turn Square.The rotation of the non-driven wheel of system monitoring is to determine car speed and then determine whether the excessive slip of driven wheel occur.

In some embodiments, the relative torques amount of the left driven wheel and right driven wheel that are applied to wheel shaft can change with Auxiliary is started from standing.Similarly, it in the case of driving to front wheels and rear wheels in such as four-wheel drive vehicle, is applied to The relative torques amount of front wheels and rear wheels can be independently varied to assist vehicle to start from standing.

Motor can be internal combustion engine, electrical motor or other power source.There are one vehicle can have or more Multiple motor and/or engine.In some embodiments of such as hybrid electric vehicle, vehicle may include engine with And one or more motor.

In embodiments of the present invention, at car speed (essentially corresponding to) substantially compatible with electromotor velocity, It indicates that enough vehicle tractions can be used for keeping advancing, and is automatically stopped the motion control.

In an embodiment of the invention, can according to vehicle whether according to the intention of vehicle driver advance and from Engage and detach dynamicly the motion control.

Therefore, in one embodiment, Vehicular system can automatically by driver's request, (such as accelerator pedal be defeated Enter, such as the pushing of accelerator pedal) it is compared with the response (such as acceleration of vehicle) of vehicle.If vehicle response indicated Wheelslip is spent, then method according to the embodiment of the present invention can be invoked automatically.For example, if driver depresses accelerate Device pedal and vehicle acceleration are not high as expected, then system, which can determine, occurs excessive wheelslip and call basis The method of embodiments of the present invention.This method can be referred to as " tractive force auxiliary " or motion control.Calling tractive force auxiliary It helps to assist from the case that standing is started, method according to the embodiment of the present invention can be referred to as starting to assist.

In the case of automated system, method can utilize target velocity, and be adopted when vehicle reaches target velocity With or restore to standby mode.That is, tractive force auxiliary can stop under such a condition.In vehicle from target velocity It in the case of leaving predetermined amount, such as falls when target velocity is to assign predetermined amount in car speed, if asking speed again Increase then can automatically realize again tractive force assist.For example, if driver by accelerator pedal sufficient amount or If automatic speed control system is movable and order car speed increases, speed can be asked to increase.

Additionally or alternatively, method may include exit strategy, and by the exit strategy, automatic motion control will be pre- Time-out after section of fixing time, the period can depend on the situation that vehicle uses.In side according to the embodiment of the present invention Method is used to indicate time-out in the case of auxiliary engine.As an alternative, if vehicle driver requires to be more than to realize to start to assist Or tractive force assist the driving torque that required system determines driving torque or if driver for example by lower compacting Pedal etc. is moved to activate braking system, then system can cancel (for example, cancelling selection) motion control.

Known wheel velocity comparison techniques are determined for sliding of the driven wheel relative to non-slip wheel.Alternative The rotary speed on ground, driven wheel can be compared with vehicle location sensing device with wheel is associated with vehicle movement. In some embodiments of the present invention, it can pass through via the device of for example controllable limited-slip differential (torque vector control) Apply relevant wheel braking, by reducing motor torque and/or by redistributing motor torque come to being more than permissible value Sliding controlled.

Camera recognition technology can be used for for example detecting its sliding by checking one or more wheel of vehicle come really Determine vehicle movement, or can be used for checking topographical surface with determine vehicle whether just with speed changer output speed, engine The speed movement of speed and/or wheel velocity compatibility.

Wheel (and their associated tires) can be selected to allow to slide according to the type of landform.The class of landform Type can be selected by vehicle driver or is automatically sensed by the suitable sensing system of vehicle.Therefore in relatively hard table On face, any driven wheel allows sliding can be close to 5%, however, on soft surfaces, can allow the slippage of bigger to obtain To tractive force.Allow slippage that can depend on wheel velocity.

In one embodiment, method includes：Automatically reduce permission when vehicle and electromotor velocity are close to compatibility Slippage, gradually to coordinate (blend) extremely low sliding or the substantially situation without sliding from the situation of relatively high sliding.Therefore exist On hard surface, when electromotor velocity and car speed become to match, allow sliding that can coordinate to relatively low value.In soft table On such as sand ground of face, it is desirable to remain degree of slip so that relatively high when car speed and wheel velocity are close to compatibility Sliding can be coordinated to lower slip value.As an alternative can by the rotation transmission component of car speed and power assembly or In addition part, rather than motor is compared.

In an embodiment of the invention, positive vehicle acceleration can be restricted to pre- during motion control Definite value such as 1.25m/sec²Or smaller, to ensure the smooth and progressive motion of vehicle.Maximum allowable positive acceleration can take Certainly in selected terrain type.In the case where vehicle acceleration is close to predetermined value, reducing allows wheelslip degree.If vehicle Acceleration is not up to permissible value, then can increase allows wheelslip degree, until being allowed for the driven landform of vehicle Maximum value.

In some embodiments, method according to the embodiment of the present invention can be used to ensure that vehicle is effective from standing It moves and can substantially stop in 1-5 Vehicle length.Equally, method can be enabled in pressure release surface such as sand ground It is upper holding move ahead into.

Method may include：Once speed of the vehicle on running surface is more than specified value, then automatic minimum termination movement Control.

Therefore, in some embodiments, once vehicle has reached fixing speed, then motion control is terminated.

Alternatively or in addition, method may include：Once have passed through stipulated time section, then motion control is terminated automatically.

Method may include：Once the value of the skin-friction coefficient between vehicle and running surface is more than specified value, then certainly Motion control is terminated dynamicly.

Therefore, in some embodiments, the skin-friction coefficient of running surface substantially continuously or is discontinuously monitored Value.If the value of friction coefficient is more than specified value, motion control is automatically terminated.This tool has the advantage that：In some feelings The amount of the time or distance that execute motion control can be reduced under shape.Therefore, if vehicle in relatively short distance from opposite The smooth meadow surface of low skin-friction coefficient is moved to the asphalt surface of relatively high skin-friction coefficient, as long as then controlling Device can identify that the change of running surface, motion control can be terminated.It in some embodiments, can be with gradually Mode terminates motion control to enhance intact stability.

In some embodiments, can be before the motion control relative to another wheel to phase out vehicle, phase The motion control of vehicle is phased out for a wheel.For example, if the first set of one or more wheels is one The surface that relatively low friction coefficient is left before the second set of a or more wheel, then can close before second set Motion control is phased out in first set.Therefore, it can realize independently from each other to for example each driven wheel of each wheel Or the termination of the motion control of the group of driven wheel such as driven wheel pair.

Method may include：The motion control input unit that can be operated according to user, such as vehicle startup assisted Selection The state setting in motion control of device control.

Therefore, in some embodiments, control button can be provided and enables a user to automatically setting in motion control System.Control button can be for example including removable switching device or touch sensitive device such as touch-sensitive button or touch screen arrangement.Other are defeated It is also useful, such as acoustic control input unit or any other suitable input unit to enter device.In some embodiments, may be used To input setting in motion control by accelerator pedal after for example selecting motion control via menu driven user interface.

Alternatively or in addition, method may include：Automatically started according to one or more features of running surface Motion control.

Method may include：Value according to the skin-friction coefficient between one or more wheels and running surface is automatic Ground setting in motion control.

Method may include：According to one or more vehicles or environmental parameter (such as one of environment temperature or vehicle Or more component temperature) value come automatically setting in motion control.

It therefore, in some embodiments, can be with if control device determines that the value of skin-friction coefficient is so appropriate Automatically setting in motion controls.For example, if control device determines that the value of skin-friction coefficient is less than specified value, can start Motion control.

Method may include step：At least one estimate the current of skin-friction coefficient according to what is selected from following items Value：The determination of precipitation whether has occurred from the nearest movement of vehicle；And the obtained environment from the nearest movement of vehicle One or more measured values of temperature.Therefore, before vehicle starts since standing, method may include：Estimate surface It the current value of friction coefficient and automatically determines whether that motion control should be executed.

It is to be understood that the value of skin-friction coefficient between vehicle and running surface is in the case where occurring precipitation under meeting Drop.Therefore, if rain or snow are fallen on surface such as hayfield or pitch, in vehicle startup, the value of skin-friction coefficient can The value of excessive wheelslip will occur to drop down onto.In some cases, it is being towed due to the load of vehicle or due to vehicle Load, it may occur however that excessive wheelslip.

Therefore, method may include：Detection precipitation and correct the value of skin-friction coefficient according to the detection of precipitation Estimation.Method may include：Consider environment temperature when estimating skin-friction coefficient.If temperature less than specified value (such as Substantially zero degrees celsius) and have detected that precipitation, then it can optionally be come from also according to one or more other parameters The setting in motion control of dynamic ground.The specified value of skin-friction coefficient can be determined according to the estimation of train load.Train is carried Lotus estimation it is contemplated that trailer whether be connected to vehicle, the gradient of running surface and vehicle whether going up a slope or under Slope.It is also contemplated that other parameters/factor.

In some embodiments, method may include：Determine the weight that each corresponding driven wheel is being born amount or Relative quantity；And the amount for the weight born according to one or more wheels is arranged the specified value of skin-friction coefficient.Side Method may include：By additionally or alternatively referring to the data about vehicle attitude, wheel articulation and/or any other data To determine the relative quantity of the weight on given wheel.Therefore, if vehicle determine one or more wheels be in completely " under At drop " and the lower limit advanced in a downwardly direction, then method may include：The specified value for increasing skin-friction coefficient, on the surface The following setting in motion control of specified value of friction coefficient.

In some arrangements, if the amount of the weight on given wheel fall in specified value hereinafter, weight relative quantity No matter falling in specified value hereinafter, the then value of skin-friction coefficient, can automatically setting in motion control.

In some arrangements, can according to the change of car load or car load come setting in motion control, for example, if For vehicle while static, vehicle weight is for example reduced due to the unloading of cargo, then is being determined that vehicle will or can be In the case of starting on the surface of relatively low friction coefficient, it can be controlled with setting in motion.This feature is for example for haulage truck May be particularly useful, this is because they may undergo the significant change of load.In an exemplary scene, truck can be on ground Lower loading bay unloads cargo and then needs to go out loading bay in slippery surface upper edge up-hill journey.Embodiment party according to the present invention The control system of formula can be disposed usefully in such vehicle to assist the logical of slippery surface in vehicle setting in motion It crosses (negotiation).

Optionally, whether system can store about one or more ambient conditions such as environment temperature and deposit In the data of precipitation.System can with the current value of storage surface friction coefficient and optionally one associated with vehicle or More other parameters.When then from when standing setting in motion, control system can automatically activate fortune according to storage data Dynamic control, i.e., apply braking moment while vehicle is accelerated from standing to one or more wheels.As described above, applying Torque can be born via for example the power train of vehicle is applied wheel braking or applied by means of motor by adding dynamic torque.

In embodiments, if storage data are indicated when vehicle stops recently at one or more driven wheels Skin-friction coefficient be reach when vehicle stops recently need for from stand setting in motion motion control degree, then when When driver moves with post command from standing, control system can be applied automatically motion control.

In some embodiments, if control system determine when vehicle stops recently there are precipitation and surface it is present Can have specified value friction coefficient below, then when it is driver-commanded moved from standing when system can be applied automatically fortune Dynamic control.System can estimate the current of skin-friction coefficient based in part on the data about current environmental temperature Value.Other arrangements are also useful.

In some embodiments, when control system when applying motion control, is to be only applied to the braking of driven wheel System can prevent outer brake indicator lighting system lighting such as Brake lamp, unless driver depresses' brake pedal or its His brake actuator.In some embodiments, warning against danger lighting system, such as flicker blinker etc. can be activated.

Method may include step：The operating mode of vehicle is selected by control system by driver.

Method may include step：Automatically select the operating mode of vehicle.

Operating mode can be corresponding with the specified configuration of one or more vehicle subsystems.

Method may include：When selection provides vehicle working condition, automatically start the motion control.

Method may include that maximum allowable sliding is determined according to the operating mode of vehicle, and this method includes that will slide to be limited to most Big permissible value.

Method can advantageously comprise：The driving wheel of identical wheel shaft is maintained at and is alternatively less than 10% less than specified value At speed difference (differential).

Method may include step：All driving wheels of vehicle are maintained at be alternatively less than less than specified value 10% speed At degree difference.

Optionally, method may include step：The positive acceleration of vehicle is limited to specified value, is optionally limited to small In 1.5m/sec²Value.

Method may include step：When car speed and engine speed become compatible, it is opposite automatically to reduce wheel Percentage in ground slides.

It can be advantageous to incrementally reduce the percentage sliding.

Optionally, when actual vehicle speed is more than in regulated proportion of the instantaneous motor speed processing by car speed, Stop the motion control.Regulated proportion can be 90% or any other suitable value.

Method may include：Maximum allowable sliding is determined according to the operating mode of vehicle.

Method may include that the operating mode of vehicle is selected by driver.

Method may include automatically selecting the operating mode of vehicle.

Method may include transmission speed (transmission speed) is compared with the speed of non-driven wheel with Determine sliding.As described above, in some embodiments, the speed of driven wheel can be compared with the speed of non-driven wheel It is slid with determining.

Alternatively or in addition, method may include being compared to determine to slide with ground speed by transmission speed.

Alternatively or in addition, method may include using the value of the torque reaction torque of driven wheel to determine sliding. That is, method may include step：By the measurement amount of torque and desired amount at wheel --- for example for by the dynamic of vehicle The power for the specified rate that power is always shaped as or the desired amount of torque --- it is compared, with the slip value of estimated wheel.

Setting in motion controls：Management is applied to one or more vehicles while continuing to braking moment The net torque of wheel, to accelerate to vehicle.

Method may include：It selects to be applied to according to the distribution of the vehicle weight between the front of vehicle and rear portion given The amount of the braking moment of the wheel of wheel shaft.

Therefore, it can select to be applied to given wheel shaft according to the relative quantity of the weight on the front axle and hind axle of vehicle Wheel (such as a pair of of front-wheel or a pair of rear wheels) braking moment amount.If the amount of the weight on hind axle is than on front axle Weight amount it is big, then can apply braking moment a greater amount of compared with the wheel of hind axle to the wheel of front axle.

Similarly, whether the amount of the braking moment applied can be driven wheel depending on wheel.In the feelings of non-driven wheel Under condition, braking moment can not be applied when from setting in motion is stood so that can be by reference to the rotary speed of non-driven wheel To obtain the measurement of car speed.

It,, can be right as vehicle is driven from standing when from setting in motion is stood in the case of f-w-d vehicle The front-wheel of vehicle applies braking moment.However, it is possible to discharge braking moment from trailing wheel not interfere the acceleration of vehicle, and with can The measurement of the rotary speed for the trailing wheel that can be being slid, which is compared, to be made it possible to obtain the more acurrate measurement of car speed.Similarly, For rear wheel drive vehicle, when from setting in motion is stood, can to trailing wheel rather than front-wheel applies braking moment.

Method may include：Provide a user one or more drivers and apply control input --- for example accelerator is stepped on Amount that plate should be pressed down should come the gear of selection, the landform that should be selected by means of speed changer or high/low ratio selector The state of response modes controller or any other suitable driver apply control input --- required state or situation Instruction.The instruction can be provided to driver by means of man-machine interface (HMI) system.Alternatively or in addition, method can be with Including step：Instruction is provided by speech message, haptic indication and/or warning tones.Therefore, can provide a user instruction with Make it possible to implementation method.

In the another aspect of the present invention sought protection, a kind of holding vehicle is provided on low-frictional force running surface Movement method, this method includes：Detect the loss of the tractive force of vehicle；It realizes and one or more wheel of vehicle is applied The strategy of braking moment and driving torque；And during realizing the strategy, suggest to vehicle driver to needed for vehicle Driver applies control input.Driver applies the amount that control input should for example can be pressed down about accelerator pedal, answers When the shape for the landform response modes controller that carrys out the gear of selection by means of speed changer or high/low ratio selector, should select State or any other suitable driver apply control input.

Seek protection it is of the invention in terms of in, provide a kind of fortune of the holding vehicle on low-frictional force running surface Dynamic method, this method include：Detect the loss of the tractive force of vehicle；It realizes to apply one or more wheel of vehicle and brake The strategy of torque and driving torque；Sliding of one or more wheels on running surface is maintained within a predetermined range by determination Required control input；And during the realization of the strategy, suggest that the required control to vehicle inputs to vehicle driver To keep the sliding.

Method may include step：By sliding of one or more wheels on running surface be maintained at range 5% to In 20%.

Optionally, it is super to have occurred and that the determination of loss of traction may be required in slippage at any tire/surface interface Cross 2%.

Method may include step：It is driven to vehicle by instrument board message, speech message, haptic indication and/or warning The person of sailing suggests.

Advantageously, the variation that control input may include accelerator pedal position is applied to the required driver of vehicle.

Optionally, if wheelslip fall in predetermined minimum value hereinafter, if automatically stop strategy.

The strategy may be adapted to be disabled by vehicle driver.

Optionally, when selecting or detecting cross-country situation, the strategy can be enabled automatically.

Advantageously, which can be disabled more than predetermined vehicle speed.

Seek protection it is of the invention in terms of in, provide the actuating vehicle on running surface realized by control system And/or the method for keeping movement of the vehicle on running surface, the method includes setting in motion control, setting in motion controls System includes：One or more driven wheels are applied by control system order and are braked；One or more driven wheels are applied in order Add driving torque so that vehicle remains stationary；Then continuing that one or more driven wheels are applied to brake to be applied to fight From standing setting in motion while the driving torque added.

In the one aspect of the present invention sought protection, one kind actuating vehicle and/or guarantor on running surface are provided The control system of movement of the vehicle on running surface is held, which can be operated to start by operations described below Motion control：Order applies braking moment and driving torque to one or more wheels so that vehicle remains stationary；The system It can be operated with then while continuing to apply braking moment to one or more wheels from standing setting in motion.

In the another aspect of the present invention sought protection, provide it is a kind of for the actuating vehicle on running surface and/ Or keep the control system of the movement of the vehicle on running surface, the system can be operated with by operations described below come Setting in motion controls：Order applies braking moment and driving torque to one or more wheels so that vehicle remains stationary；With And then while continuing to apply braking moment to one or more wheels from setting in motion is stood, which is also configured At the value for automatically keeping sliding of one or more wheel of vehicle on running surface, wherein the value of the sliding kept Within a predetermined range.

In embodiments, control system can also include：

Electronic processors；And

Electronic storage device, the electronic storage device are electrically coupled in electronic processors and the electronic storage device and store There is instruction,

Wherein, processor is configured to access storage device and executes the instruction stored in the storage device so that should System can be operated with：

Start the motion control and the value of the sliding is automatically kept in the preset range.

In some embodiments, the processor may include one for receiving the running surface for indicating that vehicle is advanced The input terminal of the electric signal of a or more feature, wherein

The processor be configured to according to the signal for one or more the feature for indicating running surface come Determine the value of the sliding.

In some embodiments, the processor can also include the electric signal for receiving the speed for indicating vehicle Input terminal, wherein

The processor be configured to according to depending on indicate vehicle speed the signal the sliding value come The value of the determination sliding to be kept.

In some embodiments, the processor can also include the electricity for receiving the engine speed for indicating vehicle The input terminal of signal, wherein

The processor is configured to automatically indicate the signal of the engine speed of vehicle and expression vehicle The signal of speed is compared, and when the car speed is close to speed corresponding with engine speed described in reduction The value of the sliding of holding.

System can be operated is braked with ordering substantially continuously to apply one or more wheels, and then Order applies driving torque to one or more wheels.When applying driving torque, once and energy sufficiently large in driving torque Enough overcome the braking moment applied by braking system so that wheel can start rotation while, it is expected that increase braking moment with It fights driving torque and reduces flare risk.

System can be operated applies driving torque with the user of order vehicle to wheel, is optionally the drive of specified amount Dynamic torque, still optionally further for up to the driving torque of specified amount.The order can be by means of HMI displays, voice command Or any other appropriate device provides.As an alternative, control system can be operated with order power assembly controller to vehicle Wheel applies driving torque.

Control system can be operated is ordered with applying braking moment by order Vehicular system such as brake monitor It enables and applies braking moment to fight driving torque at least partly.Additionally or alternatively, control system can order power it is total At controller by means of motor, --- such as operation is the motor of generator --- is to apply braking moment.

In embodiment of the order user for example by accelerator pedal to apply driving torque, control system energy Enough operated the amount of the braking moment to order the amount for applying the driving torque applied according to user.

Control system can be operated with：If driver for example provides braking by applying pressure to brake pedal Control input, then cancel motion control.In the embodiment that order user applies Accelerator control input, system can carry out Operation with：If user stops applying Accelerator control input, for example, if user's relief accelerator pedal, then cancel movement control System.

System can automatically adapt to the sliding of one or more wheel of vehicle being maintained in range 5% to 20%.

It is to be understood that system can be operated with:Actuating vehicle and/or holding vehicle are along positive on running surface The movement of travel direction or backward going direction on running surface.

This aspect of the invention can be considered as counterintuitive, this is because the detection of the loss of tractive force usually requires to subtract Few wheelslip is to keep the control to vehicle.In the aspect of the invention illustrated, keep wheelslip to ensure that vehicle rubs low Wipe effective traveling on power surface.

By " low-frictional force surface " mean except the dry pitch or cement that on it can undergo notable loss of traction it Outer any surface, the surface are usually the cross-country surface of such as snowfield, muddy ground or sand ground.Loss of traction can be defined To be more than 2% sliding at any tire/surface interface.Can be in any suitable manner --- for example by comparing wheel Speed or by comparing wheel velocity and car speed relative to fixed reference --- to detect loss of traction.Dry pitch Surface can be considered as with skin-friction coefficient 1.Relatively low skin-friction coefficient can be considered as less than or equal to 0.5 Value.However, embodiments of the present invention are for assisting vehicle to be moved on the surface with the skin-friction coefficient more than 0.5 Useful.

Vehicle startup auxiliary or tractive force auxiliary according to the embodiment of the present invention can be presented in vehicle driver It manually realizes, or can automatically be realized by the system of vehicle when appropriate instruction.If be performed automatically, it is suitble to Indicator for example can carry out the realization by instrument board message, warning tones or haptic indication to driver's alarm.

One of required control input to vehicle may include accelerator pedal position.It therefore, can order vehicle drive Member's accelerator pedal, is maintained at that will slide in range 5% to 20% with increasing motor torque.Turn if there is excessive Square can then order driver to reduce the amount that accelerator pedal is pressed down, and in other words, reduce accelerator pedal " aperture ".System It can be operated to provide amount of the prompt to instruct user to increase or reduce accelerator pedal.Driver can be by light It is pressed in micro-ly on accelerator pedal and with the prompt then provided by system come setting in motion control.In some embodiments In, system can be operated covers (capping) to execute automated torque, and in automated torque capping, power assembly exists It can be operated under the control of control system to be formed until the amount of accelerator pedal is corresponding most with driver The driving torque being worth greatly.System is configured to determine the amount of required driving torque and order power assembly is formed until by instantaneous The respective drive amount of torque of maximum value indicated by accelerator pedal position.Can use include voice command, touch feedback, show Show any appropriate device of control input needed for the instruction of message, chart, figure etc..

Method may include：Reduce system by means of braking system and/or power assembly torque come to driving torque excess It compensates.Therefore it is command by raw formed and practical instantaneous Accelerator control position in actuator such as engine and/or motor In the embodiment for setting the amount of corresponding driving torque, by applying braking moment and/or being reduced by means of power assembly torque System to excessive torques makes compensation.

It may include one or more clutch apparatus that power assembly torque, which reduces system, can be operable so that Power train sliding at one or more positions of power assembly can reduce the power for being applied to one or more wheels The amount of assembly torque.The clutch apparatus for changing for example more plate wet clutch devices or any other conjunction are for example passed through by system The amount of clamping pressure between the plate of suitable device come manage power train sliding amount.Other arrangements are also useful.

If wheelslip fall the predetermined minimum value such as 2% hereinafter, if the strategy of this aspect of the invention can be by It is automatically stopped or can manually be cancelled by vehicle driver (override) or disable.Selecting or detecting cross-country situation Any other situation of loss of traction may either be met with --- for example in traveling in snowfield or and Vehicular navigation system Associated map datum prompt vehicle just traveling is on the corresponding ground in the road surface of Bu Yu highways or such as pitch or cement pavement When upper --- when can enable strategy automatically.Navigation system can be satellite navigation system or any other suitable navigation system System.

In some embodiments, if by driver or automatically one or more as defined in vehicle control system selection Multiple mode of vehicle operation can then enable strategy automatically.For example, if selection winter mode etc. or " starting to assist " pattern, Strategy can then be enabled.In response to existing (prevailing) driving condition, vehicle may operate in it is one or more other Under for example one or more landform response (TR) patterns of pattern.TR patterns may include for slippery surface such as meadow, Rubble, snowfield or ice are advanced on the ground and one or more patterns for optimizing.

United States Patent (USP) US 7,349,776 --- its content is incorporated by reference into herein --- describes following vehicles Control system：In the vehicle control system driver can wide scope driving condition and particularly working as cross-country run Improved control is realized in multiple and different landform that Shi Keneng is met with.It inputs and orders in response to driver related with landform, vehicle Control system is chosen so as to once operating in multiple and different driving modes or TR patterns.For each pattern, each vehicle System is operated in a manner of being suitable for corresponding landform.As described above, when the movement of vehicle since standing and having been selected For the moment, vehicle can be automatically brought into operation to realize embodiment party according to the present invention the regulation set of one or more TR patterns Formula starts to assist.In some embodiments, vehicle can be automatically brought into operation to select the suitable TR for existing driving condition Pattern, and realize motion control according to the present invention when the movement of vehicle since standing.

In embodiments, following pattern (such as winter mode) is available：Vehicle is configured in this mode Start from standing to reduce the risk of excessive wheelslip in drive shift such as second gear or third gear in addition to first grade.No With pattern can have different air throttle figures (map) (motor torque formed for given throttle pedal position Amount), torque transmission (thereby determines how incrementally to occur in conjunction with the rate of engagement for being controlled to occur transmission clutch The air throttle figure of shift) and function as skin-friction coefficient speed changer transfer point.For example, speed changer transfer point can To be arranged, wherein by with than they may in a manner of milder (for example, with compared with low rate) additionally occur compared with it is lower Speed shift gears.

Other arrangements are also useful.

The strategy of this aspect can be disabled more than predetermined vehicle speed, which can be by vehicle drive Member's setting can be automatically configured by Vehicular system.

Method according to the embodiment of the present invention is commonly implemented in vehicle control system such as clutch control, Suitable for automatically changing the coupling between motor and speed changer and/or torque vectoring system, to realize expected result.It should Clutch can be the lock-up clutch of torque-converters.Control system can also be controlled by changing motor torque/hodograph Motor torque, and when selecting suitable control by vehicle driver, control system can be completely automatic.

In one embodiment, control system is a part of clutch control ECU, and clutch control ECU has Input signal from network-bus etc. is provided about electromotor velocity (for example, engine speed or electric propulsion motor speed Degree), the information needed of transmission speed, transmission ratio, wheel velocity, ground speed etc..Can be by reference to electromotor velocity --- Optionally in combination with one or more other parameters, such as driver requested torque, fuel flow rate, air inlet flow rate and/or one Or more other parameters --- obtain other information, such as motor torque from the look-up table of ECU memories.

Once by vehicle driver, the movement of vehicle can be completely automatic, until reaching motor and speed change There is desired speed or wheelslip to have fallen below defined threshold for expectation coupling, vehicle between device.Threshold value can depend on In speed and/or one or more other parameters such as friction coefficient.Car speed can be kept, until or except non-vehicle is driven The person of sailing for example by propulsion (pushing) accelerator pedal, push brake pedal and manually controlled or other system is taken over to take； The latter can be, for example, cruise control module, by cruise control module vehicle driver can by using it is common+and- Button carrys out acceleration or deceleration.

System may include the torque controller for being selectively distributed engine output between the driven wheel of vehicle.

Controller may be adapted to control the rotary speed of driven wheel by applying corresponding wheel braking.

System can be operated to execute the torque vector control about multiple wheel of vehicle.

System can also include the device for sensing the ground speed relative to car speed.

For example, the means for measuring the actual speed advanced on the ground can be provided to vehicle, such as based on radar Technology, the technology based on camera, be based on GPS (GPS) technology or any other suitable technology.It is logical Car speed is crossed to mean to need to know the reference car speed that one or more Vehicular systems of wheel velocity use.With reference to vehicle Speed can be determined by the measurement of wheel velocity, and with reference to car speed one or more wheelslips feelings It may easily be influenced by error value under condition.Reference velocity is driven in all wheels of vehicle and all driven wheels are slided The influence of error value can be particularly vulnerable in the case of shifting.

System may be adapted to determine maximum allowable sliding according to the operating mode of vehicle.

Optionally, system include be used to indicate vehicle driver change driver control input for example brake pedal and/or The command device of accelerator pedal.

System can be operated with by ordering vehicle driver to change control input such as accelerator pedal come order Apply driving torque, is enable to be formed enough driving torques with from standing setting in motion.

System can be operated to change control input via vehicle HMI instruction vehicle drivers.

Advantageously, system can be operated applies driving torque with direct command.

Therefore, system can be operated with direct with Vehicular system such as power assembly controller or engine controller Communication is to apply driving torque.

Embodiments of the present invention can be used in the vehicle with automatic transmission and may be adapted to with manual The vehicle of speed changer is used together.In the embodiment being used together with the vehicle with manual transmission, have in vehicle In the case of high/low ratio selector in addition to transmission gear selector, system can be operated to guide driver Suitable gear or gear is selected to configure.The specific combination for meaning high or low ratio and transmission gear by gear configuration, can Selection of land is the selection of two or more combinations.Then control system can provide accelerator pedal to driver and should be pressed down Amount instruction, and optionally additionally instruct driver discharge vehicle clutch to engage speed changer.Control system can To instruct driver that clutch is optionally discharged suitable amount at a suitable rate, to prevent vehicle stall.Control system is again Wheel can be applied with direct command brake monitor and be braked, to form braking moment to prevent one when wheel starts rotation A or more driven wheel flare.In the case where applying braking moment by means of motor, control system, which can order, passes through electricity Machine applies braking moment.In embodiments of the present invention, the green indicator light when accelerator pedal is depressed sufficiently by driver It can light.If discharging clutch with excessively high rate, red colored lamp can light.Other arrangements are also useful.

In the one aspect of the present invention sought protection, provide it is a kind of for the actuating vehicle on running surface and/ Or the control system of movement of the vehicle on running surface is kept, which can be operated with by ordering to one Or more driven wheel apply braking and carry out setting in motion control, which can also be operated with to one or more driven Wheel applies driving torque so that vehicle remains stationary, the subsequent energy of system via the braking for being applied to one or more wheels Enough operated with continue to one or more driven wheels apply braking to fight applied driving torque while from Stand setting in motion.

The amount of braking moment is formed by by the braking for being applied to one or more wheels by reduction and/or passes through increasing It is applied to the amount of the driving torque of one or more wheels greatly, it can be from standing setting in motion.

It is to be understood that each wheel can be provided with corresponding one or more brakings.As an alternative, it can be driven The desired locations of system apply braking, to fight driving torque and prevent excessive wheel slip.

In the another aspect of the present invention sought protection, it includes vehicle according to foregoing aspects of system to provide a kind of .

In one aspect of the invention, providing a kind of having multiple optional operating modes and according to one of in terms of foregoing is The vehicle of system.

In the one aspect of the present invention sought protection, it includes brake control (such as braking control to provide a kind of Device processed) and Powertrain control device (such as power assembly controller) vehicle speed control system.Brake control and Powertrain control device can be operated to control the net torque amount for being applied to follower shaft.In operation, control system It allows the vehicle to be accelerated from standing with the rate less than following rates：The rate is the friction between tire and ground Coefficient is substantially equal on 1 surface --- surface for providing relatively high grip --- when not applying brake control The rate that can be reached by Powertrain control device.This is because when vehicle is accelerated, brake control is to driven wheel Apply braking (retarding) (braking (brake)) torque, to fight power assembly driving torque.This tool has the advantage that： If vehicle is sought to accelerate on the surface of relatively low skin-friction coefficient, the rate accelerated can be than actually driver The rate of accessible acceleration is big, this is because the application of braking system prevents excessively when applying ahead power assembly driving torque Wheelslip (flare).

In the one aspect of the present invention sought protection, provide it is a kind of by control system realize on running surface Actuating vehicle and/or the method for keeping movement of the vehicle on running surface.Method may include setting in motion control, open Beginning motion control includes：Braking moment and driving torque are applied to one or more wheels by control system order so that vehicle Remains stationary；Then from standing setting in motion while continuing to apply braking moment to one or more wheels.May be used also It is advanced with the vehicle being maintained on low-frictional force surface with realizing the strategy.Vehicle driver can be ordered to change control input, Such as accelerator pedal position, in order to keep advancing.

In the another aspect of the present invention sought protection, a kind of non-transient computer readable storage medium is provided, it should Instruction is stored in non-transient computer readable storage medium：The instruction when being executed by one or more electronic processors, One or more processors are made to execute method as described above.

Seek protection it is of the invention in terms of in, provide and a kind of for the actuating vehicle on running surface and keep The control system of movement of the vehicle on running surface, the system can be operated to start to transport by operations described below Dynamic control：Braking moment and driving torque are applied to one or more wheels so that vehicle remains stationary；And then after From setting in motion is stood while the continuous application braking moment to one or more wheels, which is further configured to：

The value for automatically determining the sliding by one or more wheel of vehicle on running surface is maintained at preset range Interior required required driver controls input, and

The instruction of the required control input to vehicle is sent out to keep the sliding to vehicle driver.

In embodiments, control system may include：

Electronic processors；And

The required driver is automatically determined to control input and send out the instruction to driver.

Within the scope of application, clearly it is expected in the preceding paragraphs, in the claims and/or be described below and Various aspects, embodiment, example and the alternative stated in attached drawing and particularly its each feature can be by individually Consider or is considered with any combination thereof.For example, the feature in conjunction with described in an embodiment is suitable for all embodiments, remove Non- such feature is incompatible.

Description of the drawings

By the example only referring to attached drawing, embodiments of the present invention will now be described, in the accompanying drawings：

Fig. 1 shows vehicle according to the embodiment of the present invention；

Fig. 2 shows accelerator pedal position and motor torque are exported relevant pedal and advanced to scheme (map)；

Fig. 3 graphically shows the effect of embodiments of the present invention；

Fig. 4 corresponds to Fig. 3 and shows the car speed of rising；

Fig. 5 corresponds to Fig. 3 and shows that relative wheel slides；

Fig. 6 is the flow chart for the operation for describing control unit for vehicle according to the embodiment of the present invention；And

Fig. 7 is that the time is used as during vehicle startup under the control of control system according to the embodiment of the present invention Function power assembly torque and braking moment curve graph.

Specific implementation mode

Fig. 1 is the schematic diagram of vehicle 10 according to the embodiment of the present invention.Vehicle 10 has internal combustion engine form Prime mover or motor 11.Engine 11 is coupled to speed changer 12 by means of shaft coupling (coupling) 13.Shaft coupling 13 is arranged At：When vehicle 10 accelerates since standing so that speed changer 12 can progressively reach the speed compatible with motor speed.Connection Axis device 13 is typically friction clutch, torque-converters etc..Accelerator pedal 1 is allowed the operator in power assembly controller 17 Control controls down the amount of the torque formed by motor 11, while brake pedal 2 is allowed the operator in brake monitor 16 Control is lower to apply braking system.

Vehicle 10 includes by the operable mode selector 14 for it is expected mode of vehicle operation with selection of driver.These patterns May include that the hovering for being suitable for different terrain situation and power train are for example set optimally to ensure efficient vehicle performance and its The full utilization of ability.The pattern can be referred to as " landform response " or as above and in United States Patent (USP) US 7,349,776 Described TR patterns.Mode selector 14 can be operable to be directed in sand ground or rubble or rock by vehicle driver On traveling optimize vehicle.In some embodiments, may be configured so that can be by being arranged to sensing one for vehicle 10 The sensor of the suitable vehicle installation of a or more operating mode carrys out automatic selection operation pattern.

Vehicle needs to pay close attention to avoid the response of unsuitable vehicle from movement is stood when off-highway.Fig. 2 shows be directed to The progressive figure of typical pedal in meadow rubble or on snowfield (GGS) 21, sand ground 22 and rock 23 advanced, wherein by reference to Accelerator pedal position P controls the torque output T of motor of vehicle.Therefore, high torque (HT) output for from selection sand ground pattern The small advances of accelerator pedal of low % pedal positions be available.In contrast, in GGS patterns, torque output exists It is less powerful at low 5 pedal position, to avoid wheel slip.But, for assisting new hand driver from standing situation locomotive Control strategy be it is desired, especially driver improperly determine terrain type the case where.

Embodiments of the present invention provide for assist driver from stand start vehicle start miscellaneous function.

In embodiment shown in Fig. 1, realize vehicle from quiet using intentional wheelslip within a predetermined range Movement is set, to generate maximum drawbar pull in tire/landform interface.Sliding can be at least one wheel shaft of vehicle intentionally It is generated at driven wheel, and all follower shafts can be applied to.

Allow the amount of sliding empirically to be determined according to type of vehicle and classification of landform, and is directed to hard surface such as rock Stone may be as few as 5%, and can be with up to 20% for soft particle surface such as sand ground.The amount of sliding can also be car speed Function.In some embodiments, vehicle can be operated to allow sliding to be up to about 50%.The value of other wheelslips It is also useful for various landform situations.

It is to be understood that meaning that wheel velocity is more than the amount of car speed by term sliding.

It is command by this way when vehicle, which is in, to be stood, then motor of vehicle usually can generate enough torques and make driving wheel Excessively rotation or flare.Conventional differential mechanism usually will be and therefore of the invention so that a driven wheel trackslips uncontrolledly Some embodiments, which are arranged to, prevents excessive wheel slip.

The vehicle of the embodiment of Fig. 1 has the control unit for vehicle that can be operated and start miscellaneous function with realization (VCU)15.When starting miscellaneous function to activate, VCU 15 can be operated with order control for brake while vehicle 10 is static Device 16 applies braking (for example, braking pressure in the case of pressure actuated braking system to one or more driven wheels Power), to resist the acceleration of one or more wheels when applying engine drive torque to one or more driven wheels.It should Braking moment reduces the risk of the wheel flare when applying driving torque, and net torque of the management at each wheel is upper Raising speed rate is less than individually via 17 accessible rate of power assembly controller.

In some arrangements, each wheel to follower shaft applies braking moment.Relative wheel on ground and wheel shaft Between skin-friction coefficient value it is substantially different in the case of, which reduce vehicle advance substantially by a wheel it is opposite In the risk that the sliding of another wheel is prevented.In some embodiments, controllable limited-slip differential may be used to alleviate The problem, and/or the system that is controlled by torque vector, wherein transmission for vehicles 12 are suitable for according to requiring to guide torque to each A driven wheel.

Between the driven wheel of one or more wheel shafts in the embodiment with differential mechanism, driven wheel is applied and is braked The table that torque can be used for having the lower skin-friction coefficient compared with the surface that other wheels are undergone in a wheel experience The profile torque between differential mechanism in an advantageous manner when face.That is, torque can be redistributed so as to undergoing higher The wheel of skin-friction coefficient apply a greater amount of torques.

It is to be understood that according to Conventional wisdom, more than the relatively small amount of wheel trackslipping be generally viewed as it is undesirable, And therefore the purpose of prior art systems is that wheelslip is maintained at alap value.However in some of the invention In embodiment, excessive torques are provided to ensure intentional controlled slip within the required range by vehicle motor 11.To one Or more driven wheel apply braking moment auxiliary control sliding, especially when vehicle 10 starts from standing.

In order to which driven wheel is maintained in controlled slip, it is thus necessary to determine that the device of sliding.Suitable device includes each vehicle Together with the indicator of car speed, each wheel speed indicator can obtain wheel speed indicator from anti-lock brakes sensor It arrives.The latter can obtain from non-driven wheel, from GPS system, Inertial Measurement Unit (IMU) or in such a way that any other is convenient. Camera system can be provided to measure each vehicle wheel rotational speeds or detect relative motion of the landform relative to vehicle.Pass through It can be used for being given at the instruction of the car speed in landform to project and receive the radar system etc. of electromagnetic beam.

Wheel velocity, car speed, engine output torque and other parameters signal be in vehicle network bus can , vehicle network bus is controller LAN (CAN) bus 19 in the present embodiment.The signal is with for example more than 10Hz Suitable turnover rate be updated.

The suitable algorithm or look-up table that experience is formed distribute suitable sliding range according to selected contoured condition.It is selected Landform situation can be arranged by means of selector 14 as described above by driver or automatically be identified by VCU 15.Institute The degree of slip of distribution is also conceivable to other factors, the example pitch angle or rolling of transmission ratio and vehicle when standing as selected Angle.It is also contemplated that whether environmental factor (is arranged to for example whether raining by reference to rain sensor or the rain brush that keeps out the wind "ON") and/or other factors, such as whether vehicle is pulling, load of hovering, environment temperature (for example, environment temperature whether Below substantially zero degrees celsius) and any other suitable factors.The appropriate signals of these factors usually can in CAN bus 19 With.

Fig. 3 shows the characteristic feature for being moved from standing in sand ground.Vehicle driver can be by from display VLA is selected in menu on HMI displays 18 to be initialized to vehicle startup auxiliary (VLA) function.In this embodiment party In formula, which can be operated to provide fully automated start.For example, if driver without auxiliary in the case of effort Climbing, then driver can stop vehicle and be selected from the menu VLA.

Once having selected VLA functions, 15 order brake monitors 16 of VCU, which apply each wheel to be driven, (or to be protected Hold) braking moment, the amount of the braking moment depends on the estimated value of the skin-friction coefficient between driven wheel and running surface. In some embodiments, apply when vehicle is stood or the amount of braking moment that initially keeps be with skin-friction coefficient without The fixed value of pass.The amount of braking moment can be based in part on vehicle attitude and selected gear ratio in some embodiments It determines, to avoid undesirable movement example, such as the rollback of vehicle.

Then order power assembly controller 17 generates enough motor torques to ensure incipient wheel slip to VCU 15 S% would be about 20%.Power assembly forms the power in the case where not needing driver and applying accelerator pedal 1.It is appreciated that , in some embodiments, can order ahead power assembly torque be more than substantially fixed braking moment, and/or should Braking moment can be gradually reduced to manage net wheel torque.When vehicle obtains tractive force and speed V (Fig. 4), the cunning of permission Shifting degree is progressively decreased to 5%, this can be desired under certain sand ground situations.At fair speed or in different terrain On, Relative sliding can further decrease.The time for reaching the steady state speed of about 10kph can be in the range of 1-3 seconds, at this Point place vehicle driver can by promote accelerator pedal 1 or by some other Vehicular system such as cruise controls of engagement come It takes over.Steady state speed can change or select according to the behaviour in service when starting Assisted Activation.

In an embodiment of the invention, start miscellaneous function once enabling, stepped on via accelerator if detected Any control input from vehicle driver, transmission control input or the hand of plate 1, brake pedal 2, parking brake switch 16PB The actuating of dynamic speed change box clutch (in the case where being provided), then VCU 15 is disabled immediately starts miscellaneous function.

Fig. 4 shows that the typical of t increases car speed V at any time when obtaining tractive force and speed rises to stable state. The steady state speed according to landform and other situations, according to the preset value retained in a lookup table or according to algorithm it is of course possible to changing Become.

Fig. 5 shows to slide S with the increased typical wheels of car speed V.Initial slippage is substantially zero (wheel stationary), But quickly increase to 20% before the steady-state value for falling within 5%.With the turnover rate of control system come correction wheel speed compared with Small variation, the turnover rate can be 10Hz or bigger.

An embodiment of the invention is described now with reference to the flow chart of Fig. 6.

At step S101, vehicle 10 is static in the case of speed V=0kph and the operation of engine 11.Vehicle is driven The person of sailing selects vehicle startup miscellaneous function via HMI displays 18.

At step S103, VCU 15 is checked whether applies (being arranged to open) via parking brake switch 16PB Whether stopping brake, speed changer 12 are arranged to whether drive mode and driver are currently pushing brake pedal 2.One In a little embodiments, VCU 15 does not require brake pedal 2 to be pressed down.Other arrangements are also useful.

If these conditions are satisfied, then at step S105, start auxiliary by " engagement ", i.e. VCU 15 starts to execute Realize the computer program code for starting miscellaneous function.If pressed by pressing " cancellation " that is shown on HMI displays 18 Button, once followed via the instruction of vehicle HMI displays 18 and relief accelerator pedal 1, driver if having pushed pedal 1 Then cancel and start miscellaneous function, or if driver is being instructed to release brake pedal 2 via vehicle HMI displays 18 Brake pedal 2 is pushed later, then VCU 15 proceeds directly to the step S131 for cancelling and starting auxiliary, and VCU 15 is terminated and realized Start the execution of the code of miscellaneous function.

At step S107, VCU 15 indicate (via HMI displays 18) driver discharge formulate pedal 2 and by means of Accelerator pedal 1 applies the part throttle of suggested amount.

At step S109, VCU 15, which is continued command with, applies braking moment to keep vehicle 10 static, and makes following It determines：Whether the enough positive torque of the braking moment of confrontation specified amount can get for vehicle startup.The determination can pass through The signal of practical power assembly torque that reference driving force assembly torque request signal, instruction are transmitted or by means of any other Appropriate means are made.If 15 determinations of VCU cannot obtain enough torques, VCU 15 is back to step S107.

If can get enough torques, at step S111, VCU 15 is provided via HMI displays 18 to driver Instruction is to discharge the instruction of stopping brake via parking brake switch 16PB.

At step S113, VCU 15 determines whether the actuating parking brake switch 16PB releases in stipulated time section Stopping brake.In the present embodiment, it is specified that the period is 10s, however other values are also useful.If driver is not advising The signal of release stopping brake is sent in section of fixing time via switch 16PB, then VCU 15 continues at step S131.

If driver the stipulated time section in send release stopping brake signal, VCU 15 at step S115 after It is continuous.At step S 115, VCU 15 shows the instruction for starting miscellaneous function to activate via HMI 18 and is provided to driver Guiding about accelerator pedal position.Specifically, VCU 15 indicates that driver's accelerator pedal 1 must quilt via HMI 18 It pushes how many so that engine 11 can form enough torques for vehicle startup.

Once VCU 15, which is determined, just forms enough torques, then at step S117,15 order brake monitors 16 of VCU Carry out the braking moment that order reduces the driven wheel for being applied to vehicle 10.Continue the defined braking moment amount that will be determined by VCU 15 It is applied to driven wheel.And non-vehicle 10 all wheels by driving (such as two-wheel drive vehicle or two-wheel drive configure In the four-wheel drive vehicle of middle operation) in the case of, VCU 15 can order the braking substantially completely discharged to non-driven wheel Torque so that they without the braking moment for being applied to it substantially freely to be rotated.Non-driven wheel can be then provided with Vehicle reference speed.

It is formed by engine 11 and is applied as needed it is to be understood that then VCU 15 can order to increase or reduce Add to the torque of driven wheel.In some embodiments, adjustment motor torque is substituted to transmit the driving required by VCU 15 The amount of torque, power assembly controller 17 can be operated with suitable by means of clutch, torque-converters or by means of any other Device adjust the amount for the driving torque for being sent to driven wheel.

At step S119, whether VCU 15 determines driver relief accelerator pedal 1 or pushing brake pedal 2. If having occurred and that such event, VCU 15 continues at step S131 and deactivates vehicle startup miscellaneous function.

If such event not yet occurs, at step S121, VCU 15 passes through simultaneously/synchronous control power assembly Driving torque and braking moment continue wheelslip being maintained in prescribed limit.

At step S123, VCU 15 checks that vehicle is advanced by reference to car speed V and vehicle acceleration.VCU 15 Continue wheelslip being maintained in prescribed limit at step S121.

At step S125, VCU 15 determine whether to have reached regulation car speed (for example, 10kph or any other Suitable value) or spontaneous dynamic auxiliary engaged whether pass by the stipulated time section.If the either condition in these conditions is full Foot, then VCU 15 continue and be detached from (cancellation) to start to assist at step S131.If either condition is unsatisfactory for, VCU 15 continue at step S119.

The operation of the control system with VCU 15 according to the embodiment of the present invention is described now with reference to Fig. 7. Fig. 7 is the power assembly torque Tq (traces of the function as the time when starting from standing under control of the vehicle 10 in VCU 15 ) and the curve graph of brake pressure P (trace B) A.The net torque amount for the driven wheel for being applied to vehicle 10 is shown by trace C TqNET.The value of the brake pedal position signal of the function of time is shown as by trace D, wherein zero corresponds to release Brake pedal 2 and value 1 correspond to the brake pedal 2 substantially completely pushed.

For the purpose of the curve graph of Fig. 7, vehicle 10 is considered as operation under front wheel drive mode, in front wheel drive mode Under, to a pair of of front-wheel 10FW of vehicle rather than a pair of rear wheels 10RW applies driving torque.Using the rotation speed to trailing wheel 10RW The measurement of degree determines car speed.Vehicle 10 is also operable under four-wheel drive pattern, the front-wheel under four-wheel drive pattern 10FW and trailing wheel 10RW are driven.

At time t=0, vehicle 10 is by the stopping brake that is selected by stopping brake selector 16PB come remains stationary. When applying stopping brake, brake pressure value P1 is applied to braking system under the control of brake monitor 16.Engine 11 It is controlled to idle speed operation, to form driving torque Tq1.

Then driver selects vehicle startup miscellaneous function via HMI displays 18.Determine stopping brake open and In the case of stationary vehicle, VCU 15 orders driver depresses' brake pedal 2 via HMI displays 18 and sets speed changer 12 It is set to drive mode " D ".When driver does so, at time t1, the amount of brake pressure increases to P2.

At time t2, after driver has pushed brake pedal 2 and speed changer 12 is arranged to drive mode Stipulated time section, VCU 15 indicate driver discharge brake pedal 2 and by by accelerator pedal 1 push suggested amount come Applying portion air throttle.

At time t2, driver depresses' accelerator pedal 1 and at time t3, the torque formed by engine 11 Measure the amount of reaching Tq2.VCU 15 determines that the amount of torque is enough for vehicle startup and indicates driver by means of selector 16PB discharges stopping brake.

At time t4, driver selects release stopping brake by means of selector 16PB.If driver not from Stopping brake is discharged in the 10s timeout periods started at the time of driver is instructed to do so, then cancels and start miscellaneous function. If driver discharges stopping brake within the period, 15 order brake monitors 16 of VCU will be applied to front-wheel 10FW's Brake pressure is gradually decrease to value P3 from value P2.The brake pressure for being applied to non-driven trailing wheel 10RW is substantially decreased to zero.

When the brake pressure to front-wheel 10FW reduces, such as the net positive driving by shown in trace C, being applied to front-wheel 10FW Amount of torque increases.Vehicle 10 thus starts to accelerate from standing.

VCU 15 is by the way that the rotary speed of driven wheel 10FW and the rotary speed of non-driven trailing wheel 10RW to be compared to Monitor the sliding of driven wheel 10FW.VCU 15 is as needed adjusted with wheelslip value as defined in holding brake pressure P. Defined wheelslip value is the function of the speed V of the friction coefficient and vehicle 10 between wheel and ground.Provide wheelslip Or the function of the selected vehicle mode such as indicated by mode selector 14.

At time t5, VCU 15 determines that vehicle 10 is accelerating and the rate accelerated with wheelslip there is expectation to close Satisfied traveling is being made in connection, instruction.It is to be understood that if the rate accelerated is less than for the amount of wheel slip provided The rate of desired acceleration, then vehicle 10 can increase brake pressure P and wheelslip and increase acceleration to seek to reduce Rate.VCU 15 is also to adjust the amount of the torque power assembly formed by engine 11, to prevent it flame-out.

As an alternative, VCU 15 can reduce brake pressure P to increase according to the property on the surface that vehicle is being advanced above Cart wheel speed and thus increase wheelslip, with increase accelerate rate.It can be with by the process of the actions taken of VCU 15 Depending on one or more factors, such as between wheel and ground skin-friction coefficient, terrain type (such as by reference to Selected TR patterns are determined), running surface roughness, wheel articulation, vehicle attitude, environment temperature and/or whether there is precipitation Determination.

As the determining determination for making satisfied traveling as a result, at time t5, VCU 15 is ordered engine Torque increases to the value Tq3 more than Tq2 to keep advancing.Then, at time t6, VCU 15 is determining the speed of vehicle 10 Close to specified value, value V=10kph in the present embodiment.VCU 15 thus will be applied to front-wheel system between time t6 and t7 Dynamic brake pressure P is reduced to substantially zeroed.The amount of the torque formed by engine 11 can be carried out when braking is released Adjustment, to be compensated to the corresponding reduction of braking moment.At time t7, vehicle is controlled to keep the speed of 10kph Stipulated time section (being in the present embodiment the period of 5s) and VCU 15 inform vehicle startup miscellaneous function to driver It completes.If being understood that driver depresses' accelerator pedal 1 or brake pedal 2, VCU 15 can be operated to pass through It is terminated before stipulated time section and starts to assist.

This description of embodiments of the present invention is related to movement of the vehicle from standing.According to certain embodiments of the present invention System and method can additionally or alternatively be used to keep vehicle on low-friction surface or in modified friction Traveling on the surface of the value of coefficient.Therefore it when detecting that making traveling fails, is such as example stepped on by being directed to steady accelerator Indicated by the decline car speed of Board position, VCU 15 can be operated automatically to realize that tractive force according to the present invention assists work( Can, brake force is applied to fight driving torque to one or more driven wheels in the tractive force miscellaneous function.Then vehicle Wheelslip is controlled to that holding will be slid in the following range：The range enables vehicle 10 in an appropriate manner in landform Upper increase at least keeps gait of march.It is to be understood that the presence of the braking moment as confrontation power assembly driving torque It reduces excessive wheelslip and makes it possible to precisely control wheelslip.

When environment instruction, the action for the vehicle driver that has no way of, such arrangement can be related to one or more wheels Brake force it is automatic engagement and disengaging.Appropriate instruction on HMI displays 18 or tactile indicators can be accused to driver Alert activation tractive force miscellaneous function.If desired, the dress for inhibiting tractive force miscellaneous function can be provided to vehicle driver It sets.

In alternative or other method, when driver seeks to open from standing on the surface independently of miscellaneous function is started Wheelslip more than specified value when beginning to move is detected as the instruction of loss of traction.VCU 15 is by automatically Realization starts miscellaneous function to be responded to the situation.Therefore, VCU 15 realizes the strategy for keeping controlled slip to ensure vehicle 10 effective exercise on the ground.Braking moment is applied automatically to reduce the risk of driven wheel flare.In order to keep being enough The appropriate drive train torque for executing vehicle startup automatically indicates that driver makes control input by Vehicular system, main next Change accelerator pedal position.Pass through the means, it can be ensured that the appropriate excessive and appropriate maximum value of torque.Any At given time apply excessive torques can by increase braking moment amount or by any other suitable means come pair It is anti-.The instruction of vehicle driver can be by for guiding driver to apply any suitable of required amount of depression Method, include via the voice command of HMI displays 18, touch feedback, message or show actually required power assembly turn The display of the figure or chart of square.Suitable electronic control unit can come in response to the measurement of wheelslip, estimation or detection Instruction is sent out to driver, so that vehicle automatically keeps desired degree of slip.

In some embodiments, the adjustment of the amount of the positive driving torque formed by power assembly can be started by adjusting Machine idle speed executes.Idle speed, which can be adjusted, to be put out with fighting by applying the engine that braking moment is induced automatically Fire.

It is to be understood that embodiments of the present invention are also useful in the vehicle not optimized for cross-country run. Embodiments of the present invention are suitable for and only there is the vehicle of the driven wheel at its front axle or hind axle to be used together.It is such Vehicle can have the chance travelled on the ground in for example wet meadow in the surface of relatively low skin-friction coefficient, snowfield or ice.Vehicle It may meet with following situations：Traveling on the surface in this case becomes due to limited tractive force and excessive wheelslip It obtains difficult.Embodiments of the present invention tool has the advantage that：Such vehicle can be provided when operating on this surface The tractive force performance having a significant improvement.They can be when such traveling is especially for driving without cross-country driving experience The person of sailing advances on the surface when possible and impossible.Embodiments of the present invention can be applied usefully in its travelling characteristic In the complete vehicle for loading the significant changes between unloaded state is such as truck, car.

Can embodiments of the present invention be understood by reference to following number paragraph.

1. it is a kind of it is being realized by control system, actuating vehicle and keep the vehicle in the traveling on running surface The method of movement on surface, the method includes：

Braking moment and driving torque are applied to one or more wheels by the control system order so that the vehicle Remains stationary；

Then continue to one or more wheel apply braking moment while from stand setting in motion,

Wherein, the method further includes：Automatically keep one or more wheel of vehicle on the running surface Sliding, retained in sliding value within a predetermined range.

2. according to the method described in paragraph 1, wherein according to one or more features of the running surface to determine The value of the sliding of holding.

3. according to the method described in paragraph 1, wherein the value of the sliding kept additionally depends on the speed of the vehicle.

4. according to the method described in paragraph 3, wherein the value of the sliding kept reduces with car speed is increased.

5. according to the method described in paragraph 1, wherein with the close speed corresponding with electromotor velocity of the car speed Degree reduces the value of kept sliding automatically.

6. according to the method described in paragraph 1, wherein the sliding is maintained in the range of 5% to 20%.

7. according to the method described in paragraph 1, including：Once speed of the vehicle on the running surface is more than regulation Value, then automatically terminate motion control.

8. according to the method described in paragraph 1, including：Once have passed through stipulated time section, then motion control is automatically terminated.

9. according to the method described in paragraph 1, including：Once the mantle friction system between the vehicle and the running surface Several values is more than specified value, then automatically terminates motion control.

10. according to the method described in paragraph 1, including：According to the state for the motion control input unit that user can operate Setting in motion controls.

11. according to the method described in paragraph 1, including：Automatically according to one or more features of the running surface Setting in motion controls.

12. according to the method described in paragraph 11, including：According between one or more wheels and the running surface Automatically setting in motion controls the value of skin-friction coefficient.

13. according to the method described in paragraph 12, including：At least one estimate that surface is rubbed according to what is selected from following items Wipe the current value of coefficient：Determination in relation to precipitation whether occurs from the nearest movement of the vehicle；And from the vehicle One or more measured values of the environment temperature moved recently.

14. according to the method described in paragraph 1, including：The operating mode of the vehicle is selected by the driver.

15. according to the method described in paragraph 1, including：The operating mode of the vehicle is automatically selected by the control system.

16. according to the method described in paragraph 14, wherein the operating mode and the regulation of one or more vehicle subsystems are matched Set correspondence.

17. according to the method described in paragraph 14, including：Automatically start the movement control when selecting regulation vehicle working condition System.

Include that maximum allowable sliding is determined according to the operating mode of the vehicle 18. according to the method described in paragraph 14, it is described Method includes that will slide to be limited to the maximum permissible value.

19. according to the method described in paragraph 1, including：The positive acceleration of the vehicle is limited to less than 1.5m/ sec²。

20. according to the method described in paragraph 1, wherein when actual vehicle speed is more than the theory at instant engine speed Car speed 90% when, stop the motion control.

21. according to the method described in paragraph 1, including：Transmission speed and the speed of non-driven wheel are compared to determine Sliding.

22. according to the method described in paragraph 1, including：Transmission speed is compared to determine to slide with ground speed.

23. according to the method described in paragraph 1, including：Sliding is determined using the torque reaction torque of driven wheel.

24. according to the method described in paragraph 1, wherein setting in motion, which controls, includes：Management is continuing to braking moment The net torque of one or more wheels is applied to accelerate to the vehicle simultaneously.

25. according to the method described in paragraph 1, including：According to the distribution of the vehicle weight between the front and rear portion of vehicle Come select to be applied to given wheel shaft wheel braking moment amount.

26. according to the method described in paragraph 1, including：Suggest the required control to the vehicle to the vehicle driver Input.

27. according to the method described in paragraph 26, including：It is recommended that driver is controlled with specified amount actuating accelerator, to make Enough driving torques can be applied to one or more wheel by obtaining is controlled with setting in motion.

28. according to the method described in paragraph 27, including：Order applies driving torque up to the wink with the Accelerator control When position corresponding amount.

29. according to the method described in paragraph 27, including：Reduce system by means of braking system and/or power assembly torque Excessively to be compensated to driving torque.

30. a kind of method of movement of holding vehicle on low-frictional force running surface, the method includes：Described in detection The loss of the tractive force of vehicle；Realize the strategy that one or more wheel of vehicle are applied with braking moment and driving torque；Really It is fixed that sliding of one or more wheels on the running surface is maintained within a predetermined range to required control input；And During the realization of the strategy, suggest that the required control to the vehicle is inputted to keep the cunning to the vehicle driver It moves.

31. according to the method described in paragraph 30, wherein the preset range is 5% to 20%.

32. according to the method described in paragraph 30, wherein the loss of tractive force is included in big at any tire/surface interface In 2% sliding.

33. according to the method described in paragraph 30, including by instrument board message, speech message and/or warning tones come to institute It states vehicle driver and carries out suggestion.

34. according to the method described in paragraph 30, wherein the control input to the vehicle includes accelerator pedal position Variation.

35. according to the method described in paragraph 30, wherein if wheelslip fall in predetermined minimum value hereinafter, if stop automatically The only strategy.

36. according to the method described in paragraph 30, wherein the strategy is suitable for being disabled by the vehicle driver.

37. according to the method described in paragraph 30, wherein when selecting or detecting cross-country situation, enable the plan automatically Slightly.

38. according to the method described in paragraph 30, wherein the strategy is disabled when more than predetermined vehicle speed.

39. a kind of non-transient computer readable storage medium, it is stored in the non-transient computer readable storage medium Instruction, described instruction make one or more processor realize root when being executed by one or more electronic processors According to the method described in any one of aforementioned paragraphs.

40. a kind of being used for the actuating vehicle on running surface and keep movement of the vehicle on the running surface Control system, the system can be operated with by operations described below come setting in motion control：Order is to one or more A wheel applies braking moment and driving torque so that the vehicle remains stationary；And then continuing to one or From setting in motion is stood while more wheels apply the braking moment, the system is further configured to automatically keep one The value of sliding of a or more wheel of vehicle on the running surface, wherein the value of the sliding kept is in preset range It is interior.

41. according to the control system described in paragraph 40, including：

Electronic processors；And

Electronic storage device, the electronic storage device is electrically coupled to the electronic processors and the Electronic saving fills Instruction is stored in setting；

Wherein, the processor is configured to access the storage device, and executes and stored in the storage device Described instruction so that the system can be operated with：

42. according to the control system described in paragraph 41, wherein the processor includes indicating the vehicle just for receiving The input terminal of the electric signal of one or more features for the running surface advanced above, and wherein

The processor is configured to the letter according to one or more the feature for indicating the running surface Number determine the value of the sliding.

43. according to the control system described in paragraph 41, wherein the processor further includes indicating the vehicle for receiving Speed electric signal input terminal, and wherein

The processor is configured to the sliding of the signal according to the speed for depending on indicating the vehicle Value determines the value for the sliding to be kept.

44. according to the control system described in paragraph 43, wherein the value of the sliding kept is with increase car speed And reduce.

45. according to the control system described in paragraph 44, wherein the processor further includes indicating the vehicle for receiving Engine speed electric signal input terminal, and wherein

The processor is configured to：It will automatically indicate the signal and the expression institute of the engine speed of the vehicle The signal for stating the speed of vehicle is compared, and when the close speed corresponding with the engine speed of the car speed When spending, reduce the value of the sliding of the holding.

46. according to the system described in paragraph 39, the system can be operated with by ordering vehicle driver to change Control input comes order apply driving torque, to allow to be formed enough driving torques with from stand setting in motion.

47. according to the system described in paragraph 46, the system can be operated to indicate the vehicle via vehicle HMI Driver changes the control and inputs.

48. according to the system described in paragraph 39, the system can be operated applies driving torque with direct command.

49. a kind of being used for the actuating vehicle on running surface and keep movement of the vehicle on the running surface Control system, the system can be operated with by operations described below come setting in motion control：To one or more vehicles Wheel applies braking moment and driving torque so that the vehicle remains stationary；And then continuing to one or more From setting in motion is stood while a wheel applies braking moment, the system is further configured to：

The value for automatically determining the sliding by one or more wheel of vehicle on the running surface is maintained at predetermined Required required driver controls input in range, and

The instruction of the required control input to the vehicle is sent out to keep the sliding to the vehicle driver.

50. according to the control system described in paragraph 49, including：

Electronic processors；And

Electronic storage device, the electronic storage device is electrically coupled to the electronic processors and the Electronic saving fills Instruction is stored in setting,

The required driver is automatically determined to control input and send out the instruction to the driver.

51. a kind of includes the vehicle of the system according to paragraph 39.

Through the described and claimed of this specification, word " including (comprise) " and " including (contain) " with And the modification of word, such as " including (comprising) " and " including (comprises) ", it is intended that " including but not limited to ", and And be not intended to (and not) exclude other parts, additive, building block, entirety or step.

Through the described and claimed of this specification, unless the context otherwise requires, otherwise odd number covers plural number.Especially Ground, using indefinite article in the case of, unless the context otherwise requires, otherwise specification should be understood consider plural number and Odd number.

In conjunction with the feature of certain aspects of the present disclosure, embodiment or example description, entirety, characteristic, mixture, chemical root Or race should be understood to be suitable for any other aspect, embodiment or example described herein.

Claims

For the actuating vehicle on running surface and the control of movement of the vehicle on the running surface is kept 1. a kind of System processed, the system can be operated with by operations described below come setting in motion control：Order is to one or more vehicles Wheel applies braking moment and driving torque so that the vehicle remains stationary；And then continuing to one or more From standing setting in motion while a wheel applies the braking moment, the system be further configured to automatically to keep one or The value of sliding of more wheel of vehicle on the running surface, wherein the value of the sliding kept is within a predetermined range.
2. control system according to claim 1, including：

Electronic processors；And

Electronic storage device, the electronic storage device are electrically coupled in the electronic processors and the electronic storage device It is stored with instruction；

Wherein, the processor is configured to access the storage device, and execute stored in the storage device it is described Instruction so that the system can be operated with：

Start the motion control and the value of the sliding is automatically kept in the preset range.
3. control system according to claim 2, wherein the processor includes indicating the vehicle for receiving The input terminal of the electric signal of one or more features for the running surface advanced above, and wherein

The processor be configured to according to the signal for one or more the feature for indicating the running surface come Determine the value of the sliding.
4. control system according to claim 2, wherein the processor further includes indicating the vehicle for receiving The input terminal of the electric signal of speed, and wherein

The processor be configured to the value of the sliding of the signal according to the speed depending on indicating the vehicle come The value of the determination sliding to be kept.
5. control system according to claim 4, wherein the value of the sliding kept with increase car speed and Reduce.
6. control system according to claim 5, wherein the processor further includes indicating the vehicle for receiving The input terminal of the electric signal of engine speed, and wherein

The processor is configured to：It will automatically indicate the signal and the expression vehicle of the engine speed of the vehicle The signal of speed be compared, and when the car speed is close to speed corresponding with the engine speed When, reduce the value of the sliding of the holding.
7. system according to claim 1, the system can be operated with by ordering vehicle driver to change control System input comes order apply driving torque, to allow to be formed enough driving torques with from stand setting in motion.
8. system according to claim 7, the system can be operated to indicate the vehicle via vehicle HMI Driver changes the control input.
9. system according to claim 1, the system can be operated applies driving torque with direct command.
For the actuating vehicle on running surface and the control of movement of the vehicle on the running surface is kept 10. a kind of System processed, the system can be operated with by operations described below come setting in motion control：One or more wheels are applied Add dynamic torque and driving torque so that the vehicle remains stationary；And then continuing to one or more vehicle From setting in motion is stood while wheel applies braking moment, the system is further configured to：

The value for automatically determining the sliding by one or more wheel of vehicle on the running surface is maintained at preset range Interior required required driver controls input, and

The instruction of the required control input to the vehicle is sent out to keep the sliding to the vehicle driver.
11. control system according to claim 10, including：

Electronic processors；And

Electronic storage device, the electronic storage device are electrically coupled in the electronic processors and the electronic storage device Instruction is stored with,

Wherein, the processor is configured to access the storage device, and execute stored in the storage device it is described Instruction so that the system can be operated with：

The required driver is automatically determined to control input and send out the instruction to the driver.
12. a kind of vehicle including system according to claim 1.
13. a kind of vehicle including system according to claim 10.
14. a kind of actuating vehicle on running surface and the method for keeping movement of the vehicle on the running surface, The method includes：

Order applies braking moment and driving torque to one or more wheels so that the vehicle remains stationary；

Then continue to one or more wheel apply braking moment while from stand setting in motion,

Wherein, the method further includes：Sliding of one or more wheel of vehicle on the running surface is automatically kept, The value of sliding retained in it is within a predetermined range.
15. according to the method for claim 14, wherein determined according to one or more features of the running surface The value of the sliding kept.
16. according to the method for claim 14, wherein the value of the sliding kept reduces with car speed is increased.
17. according to the method for claim 14, wherein with the close speed corresponding with electromotor velocity of the car speed Degree reduces the value of kept sliding automatically.
18. according to the method for claim 14, wherein the sliding is maintained in the range of 5% to 20%.
19. the method according to claim 11, including：Once speed of the vehicle on the running surface is more than rule Definite value then automatically terminates motion control.
20. a kind of non-transient computer readable storage medium, it is stored in the non-transient computer readable storage medium following Instruction：Described instruction makes one or more processor realize root when being executed by one or more electronic processors According to the method described in any one of claim 14-19.